pxmlw6n2f/Gazebo_Distributed_TCP/test/integration/world_population.cc

196 lines
7.2 KiB
C++

/*
* Copyright (C) 2014 Open Source Robotics Foundation
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
*/
#include <string>
#include <vector>
#include "gazebo/test/ServerFixture.hh"
#include "gazebo/test/helper_physics_generator.hh"
#include "gazebo/math/Vector3.hh"
using namespace gazebo;
class WorldEnvPopulationTest : public ServerFixture,
public testing::WithParamInterface<const char*>
{
public: void LoadEnvironment(const std::string &_physicsType);
public: void EmptyPopulation(const std::string &_physicsType);
};
////////////////////////////////////////////////////////////////////////
// EmptyPopulation: Try to generate a population with an incorrect 'model_count'
// value.
////////////////////////////////////////////////////////////////////////
void WorldEnvPopulationTest::EmptyPopulation(const std::string &/*_physicsEng*/)
{
Load("test/worlds/empty_population.world");
physics::WorldPtr world = physics::get_world("default");
ASSERT_TRUE(world != NULL);
// The models should not load because we are trying to load a population with
// a non positive 'model_count' value. In any case. let's wait some time to
// verify it. We should only see two models (ground plane and sun).
int i = 0;
int retries = 20;
while (world->GetModelCount() < 2u && i < retries)
{
common::Time::MSleep(100);
++i;
}
ASSERT_GE(i, retries);
}
////////////////////////////////////////////////////////////////////////
// LoadEnvironment: Verify that the number of elements populated is correct
// and the objects are distributed as expected.
////////////////////////////////////////////////////////////////////////
void WorldEnvPopulationTest::LoadEnvironment(const std::string &/*_physicsEng*/)
{
Load("worlds/population.world");
physics::WorldPtr world = physics::get_world("default");
ASSERT_TRUE(world != NULL);
// Wait some time while the models are being loaded.
int i = 0;
int retries = 200;
while (world->GetModelCount() < 65u && i < retries)
{
common::Time::MSleep(100);
++i;
}
ASSERT_LT(i, retries);
// We should have multiple cloned models + the ground plane.
EXPECT_EQ(world->GetModelCount(), 64u + 1u);
// Check elements distributed as a grid.
double tolerance = 0.25;
math::Vector3 initialPos(-0.25, -0.25 / 2.0, 0);
math::Vector3 expectedPos(initialPos);
math::Vector3 step(0.25, 0.25, 0);
for (int i = 0; i < 2; ++i)
{
for (int j = 0; j < 3; ++j)
{
std::string name = std::string("can2_clone_" +
boost::lexical_cast<std::string>(i * 3 + j));
physics::ModelPtr model = world->GetModel(name);
ASSERT_TRUE(model != NULL);
math::Vector3 pos = model->GetWorldPose().pos;
EXPECT_NEAR(pos.Distance(expectedPos), 0.0, tolerance);
expectedPos.x += step.x;
}
expectedPos.x = initialPos.x;
expectedPos.y += step.y;
}
// Check that the objects are within the expected box.
std::vector<physics::ModelPtr> models = world->GetModels();
for (size_t i = 0; i < models.size(); ++i)
{
physics::ModelPtr model = models[i];
ASSERT_TRUE(model != NULL);
// This is not a cloned object, skip it.
if (model->GetName().find("can1_clone") != std::string::npos)
{
math::Box boundingBox(math::Vector3(2.5, 2.5, 0),
math::Vector3(3.5, 3.5, 0.1));
EXPECT_GE(model->GetWorldPose().pos.x, 2.5 - tolerance);
EXPECT_GE(model->GetWorldPose().pos.y, 2.5 - tolerance);
EXPECT_GE(model->GetWorldPose().pos.z, 0 - tolerance);
EXPECT_LE(model->GetWorldPose().pos.x, 3.5 + tolerance);
EXPECT_LE(model->GetWorldPose().pos.y, 3.5 + tolerance);
EXPECT_LE(model->GetWorldPose().pos.z, 0.1 + tolerance);
}
else if (model->GetName().find("can3_clone") != std::string::npos)
{
math::Vector3 centre(-3, 3, 0);
double radius = 1.0;
EXPECT_LE(model->GetWorldPose().pos.Distance(centre), radius + tolerance);
}
else if (model->GetName().find("can4_clone") != std::string::npos)
{
math::Box boundingBox(math::Vector3(-1, -5, 0),
math::Vector3(3, -3, .01));
EXPECT_GE(model->GetWorldPose().pos.x, -1 - tolerance);
EXPECT_GE(model->GetWorldPose().pos.y, -5 - tolerance);
EXPECT_GE(model->GetWorldPose().pos.z, 0 - tolerance);
EXPECT_LE(model->GetWorldPose().pos.x, 3 + tolerance);
EXPECT_LE(model->GetWorldPose().pos.y, -3 + tolerance);
EXPECT_LE(model->GetWorldPose().pos.z, 0.01 + tolerance);
}
else if (model->GetName().find("can5_clone") != std::string::npos)
{
math::Vector3 centre(-3, -3, 0);
double radius = 1.0;
EXPECT_LE(model->GetWorldPose().pos.Distance(centre), radius + tolerance);
}
else if (model->GetName().find("can6_clone") != std::string::npos)
{
math::Box boundingBox(math::Vector3(-1, 3.5, 0),
math::Vector3(1, 4.5, .01));
EXPECT_GE(model->GetWorldPose().pos.x, -1 - tolerance);
EXPECT_GE(model->GetWorldPose().pos.z, 0 - tolerance);
EXPECT_LE(model->GetWorldPose().pos.x, 1 + tolerance);
EXPECT_LE(model->GetWorldPose().pos.z, 0.01 + tolerance);
EXPECT_NEAR(model->GetWorldPose().pos.y, 4, tolerance);
}
else if (model->GetName().find("can7_clone") != std::string::npos)
{
math::Box boundingBox(math::Vector3(-5.5, -2, 0),
math::Vector3(-4.5, 0, .01));
EXPECT_GE(model->GetWorldPose().pos.y, -2 - tolerance);
EXPECT_GE(model->GetWorldPose().pos.z, 0 - tolerance);
EXPECT_LE(model->GetWorldPose().pos.y, 0 + tolerance);
EXPECT_LE(model->GetWorldPose().pos.z, 0.01 + tolerance);
EXPECT_NEAR(model->GetWorldPose().pos.x, -5, tolerance);
}
else if (model->GetName().find("can8_clone") != std::string::npos)
{
math::Box boundingBox(math::Vector3(3.9, -0.1, 0),
math::Vector3(4.1, 0.1, 1.4));
EXPECT_GE(model->GetWorldPose().pos.z, 0 - tolerance);
EXPECT_LE(model->GetWorldPose().pos.z, 1.4 + tolerance);
EXPECT_NEAR(model->GetWorldPose().pos.x, 4.0, tolerance);
EXPECT_NEAR(model->GetWorldPose().pos.y, 0, tolerance);
}
}
}
////////////////////////////////////////////////////////////////////////
TEST_P(WorldEnvPopulationTest, EmptyPopulation)
{
EmptyPopulation(GetParam());
}
////////////////////////////////////////////////////////////////////////
TEST_P(WorldEnvPopulationTest, LoadEnvironment)
{
LoadEnvironment(GetParam());
}
INSTANTIATE_TEST_CASE_P(PhysicsEngines, WorldEnvPopulationTest,
PHYSICS_ENGINE_VALUES);
////////////////////////////////////////////////////////////////////////
int main(int argc, char **argv)
{
::testing::InitGoogleTest(&argc, argv);
return RUN_ALL_TESTS();
}